How to run the IsaacGym simulation environment in an Ubuntu container and display the visual training interface?

[Lihongjie-123]

Hello, sir. I would like to consult an issue regarding running the IsaacGym simulation environment in a Docker container. My goal is to run the IsaacGym simulation environment in a Docker container and display the visual training results through a VNC desktop during training.

The environment I am using is as follows:

1. Ubuntu 20.04
2. Docker 20.10.8
3. GPU: Tesla T4 15360MiB
4. GPU Driver Version: 535.129.03
5. CUDA Version: 12.2
6. VNC: TigerVNC

When executing the joint_monkey.py example, I encountered the following error:
root@bdd460d9bfa1:~/isaacgym/python/examples# python joint_monkey.py Importing module 'gym_38' (/root/isaacgym/python/isaacgym/_bindings/linux-x86_64/gym_38.so) Setting GYM_USD_PLUG_INFO_PATH to /root/isaacgym/python/isaacgym/_bindings/linux-x86_64/usd/plugInfo.json pygame 2.5.2 (SDL 2.28.2, Python 3.8.10) Hello from the pygame community. https://www.pygame.org/contribute.html WARNING: Forcing CPU pipeline. Not connected to PVD +++ Using GPU PhysX Physics Engine: PhysX Physics Device: cuda:0 GPU Pipeline: disabled WARNING: lavapipe is not a conformant vulkan implementation, testing use only. Creating 36 environments XIO: fatal IO error 11 (Resource temporarily unavailable) on X server ":1" after 385 requests (385 known processed) with 0 events remaining.

Tracking the code, I found that the error occurs when the program reaches the following line:
gym.draw_viewer(viewer, sim, True)

Could you please provide insights into the reason for this error? Any advice or solutions would be greatly appreciated!

Thank you very much!

[Lihongjie-123]

I am running the 'joint_monkey.py' example code on a physical machine, and the displayed visualization interface looks like this:

[Lihongjie-123]

However, when running the 'joint_monkey.py' example code in a container, the displayed visualization interface looks like this, with the interface being very blurry, and the characters on top are not visible.

[Lihongjie-123]

Why is this happening? I am using a Tesla T4 GPU, and even after updating the GPU driver to version 510.108.03, I still encounter the same issue. The problem persists with GPU driver version 535.129.03 as well. Can you provide some advice or guidance?